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                    课程简介
            
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                    第1章 ROS2概述与环境搭建
            
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                    1.1 ROS2简介
            
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                    1.1.1 ROS2发展历程
            
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                    1.1.2 ROS2组成体系
            
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                    1.1.3 ROS2优势
            
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                    1.2 ROS2安装
            
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                    1.2.1 安装ROS2
            
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                    1.2.2 测试ROS2
            
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                    1.2.3 安装colcon构建工具
            
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                    1.3 ROS2快速体验
            
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                    1.3.1 案例简介
            
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                    1.3.2 HelloWorld（C++）
            
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                    1.3.3 HelloWorld（Python）
            
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                    1.3.4 运行优化
            
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                    1.4 ROS2集成开发环境搭建
            
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                    1.4.1 安装VSCode
            
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                    1.4.2 安装终端
            
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                    1.4.3 安装git
            
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                    1.5 ROS2体系框架
            
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                    1.5.1 ROS2文件系统
            
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                    1.5.2 ROS2核心模块
            
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                    1.5.3 ROS2技术支持
            
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                    1.5.4 ROS2应用方向
            
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                    1.6 本章小结
            
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                    第2章 ROS2通信机制核心
            
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                    2.1 通信机制简介
            
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                    2.2 话题通信
            
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                    2.2.1 案例以及案例分析
            
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                    2.2.2 话题通信之原生消息（C++）
            
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                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/223-hua-ti-tong-xin-python-shi-73b028-yuan-sheng-xiao-606f29.html">
            
                    
                    2.2.3 话题通信之原生消息（Python）
            
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        <li class="chapter " data-level="1.3.2.4" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/222-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
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                    2.2.4 话题通信自定义接口消息
            
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                    2.2.5 话题通信之自定义消息（C++）
            
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        <li class="chapter " data-level="1.3.2.6" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/22-hua-ti-tong-xin/224-hua-ti-tong-xin-python-shi-xian.html">
            
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                    2.2.6 话题通信之自定义消息（Python）
            
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        <li class="chapter " data-level="1.3.3" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin.html">
            
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                    2.3 服务通信
            
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                    2.3.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.3.2" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/232-hua-ti-tong-xin-jie-kou-xiao-xi.html">
            
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                    2.3.2 服务通信接口消息
            
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        <li class="chapter " data-level="1.3.3.3" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/233-fu-wu-tong-xin-c-shi-xian.html">
            
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                    2.3.3 服务通信（C++）
            
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        <li class="chapter " data-level="1.3.3.4" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/234-fu-wu-tong-xin-python-shi-xian.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/23-fu-wu-tong-xin/234-fu-wu-tong-xin-python-shi-xian.html">
            
                    
                    2.3.4 服务通信（Python）
            
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        <li class="chapter " data-level="1.3.4" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin.html">
            
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                    2.4 动作通信
            
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        <li class="chapter " data-level="1.3.4.1" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/241-dong-zuo-tong-xin-li-lun-mo-xing.html">
            
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                    2.4.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.4.2" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/242-dong-zuo-tong-xin-jie-kou-xiao-xi.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/242-dong-zuo-tong-xin-jie-kou-xiao-xi.html">
            
                    
                    2.4.2 动作通信接口消息
            
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        <li class="chapter " data-level="1.3.4.3" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/243-dong-zuo-tong-xin-c-shi-xian.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/243-dong-zuo-tong-xin-c-shi-xian.html">
            
                    
                    2.4.3 动作通信（C++）
            
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        <li class="chapter " data-level="1.3.4.4" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/244-dong-zuo-tong-xin-python-shi-xian.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/24-dong-zuo-tong-xin/244-dong-zuo-tong-xin-python-shi-xian.html">
            
                    
                    2.4.4 动作通信（Python）
            
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        <li class="chapter " data-level="1.3.5" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu.html">
            
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                    2.5 参数服务
            
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                    2.5.1 案例以及案例分析
            
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        <li class="chapter " data-level="1.3.5.2" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/252-can-shu-shu-ju-lei-xing.html">
            
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                    2.5.2 参数数据类型
            
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        <li class="chapter " data-level="1.3.5.3" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/253-can-shu-fu-wu-c-shi-xian.html">
            
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                    2.5.3 参数服务（C++）
            
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        </li>
    
        <li class="chapter " data-level="1.3.5.4" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/254-can-shu-fu-wu-python-shi-xian.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/25-can-shu-fu-wu/254-can-shu-fu-wu-python-shi-xian.html">
            
                    
                    2.5.4 参数服务（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.3.6" data-path="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/28-ben-zhang-xiao-jie.html">
            
                <a href="../../di-2-zhang-ros2-tong-xin-ji-zhi-he-xin/28-ben-zhang-xiao-jie.html">
            
                    
                    2.6 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong.html">
            
                    
                    第3章 ROS2通信机制补充
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/31-fen-bu-shi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/31-fen-bu-shi.html">
            
                    
                    3.1 分布式
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/32-gong-zuo-kong-jian-fu-gai.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/32-gong-zuo-kong-jian-fu-gai.html">
            
                    
                    3.2 工作空间覆盖
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.3" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/33-yuan-gong-neng-bao.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/33-yuan-gong-neng-bao.html">
            
                    
                    3.3 元功能包
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming.html">
            
                    
                    3.4 节点重名
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.4.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/341-rou-si.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/341-rou-si.html">
            
                    
                    3.4.1 ros2 run设置节点名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/342-launch-wen-jian-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/342-launch-wen-jian-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                    
                    3.4.2 launch文件设置节点名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.4.3" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/343-bian-ma-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/34-jie-dian-zhong-ming/343-bian-ma-jie-jue-jie-dian-zhong-ming-wen-ti.html">
            
                    
                    3.4.3 编码设置节点名称
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.5" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming.html">
            
                    
                    3.5 话题重名
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.5.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/351-ros2-run-xiu-gai-hua-ti-ming-cheng.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/351-ros2-run-xiu-gai-hua-ti-ming-cheng.html">
            
                    
                    3.5.1 ros2 run设置话题名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.5.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/352-launch-wen-jian-xiu-gai-hua-ti-ming-cheng.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/352-launch-wen-jian-xiu-gai-hua-ti-ming-cheng.html">
            
                    
                    3.5.2 launch文件设置话题名称
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.5.3" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/353-bian-ma-she-zhi-hua-ti-ming-cheng.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/35-hua-ti-zhong-ming/353-bian-ma-she-zhi-hua-ti-ming-cheng.html">
            
                    
                    3.5.3 编码设置话题名称
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.6" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api.html">
            
                    
                    3.6 时间相关API
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.6.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/361-rate.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/361-rate.html">
            
                    
                    3.6.1 Rate
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/362-time.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/362-time.html">
            
                    
                    3.6.2 Time
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.3" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/363-duration.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/363-duration.html">
            
                    
                    3.6.3 Duration
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.6.4" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/364-time-yu-duration-yun-suan.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/36-chang-yong-api/364-time-yu-duration-yun-suan.html">
            
                    
                    3.6.4 Time 与 Duration 运算
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.7" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling.html">
            
                    
                    3.7 通信机制工具
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.7.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/371-ming-ling-gong-ju.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/371-ming-ling-gong-ju.html">
            
                    
                    3.7.1 命令工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.7.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/372-rqtgong-ju-xiang.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/37-tong-xin-ji-zhi-ming-ling/372-rqtgong-ju-xiang.html">
            
                    
                    3.7.2 rqt工具箱
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.8" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi.html">
            
                    
                    3.8 通信机制实操
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.4.8.1" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/381-hua-ti-tong-xin-lian-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/381-hua-ti-tong-xin-lian-xi.html">
            
                    
                    3.8.1 话题通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.2" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/382-fu-wu-tong-xin-lian-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/382-fu-wu-tong-xin-lian-xi.html">
            
                    
                    3.8.2 话题通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.3" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/383-dong-zuo-tong-xin-lian-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/383-dong-zuo-tong-xin-lian-xi.html">
            
                    
                    3.8.3 服务通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.4" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/384-can-shu-fu-wu-lian-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/384-can-shu-fu-wu-lian-xi.html">
            
                    
                    3.8.4 服务通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.5" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/385-dong-zuo-tong-xin-an-li-fen-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/385-dong-zuo-tong-xin-an-li-fen-xi.html">
            
                    
                    3.8.5 动作通信案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.6" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/386-dong-zuo-tong-xin-shi-xian.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/386-dong-zuo-tong-xin-shi-xian.html">
            
                    
                    3.8.6 动作通信实现
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.7" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/387-can-shu-fu-wu-an-li-fen-xi.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/387-can-shu-fu-wu-an-li-fen-xi.html">
            
                    
                    3.8.7 参数服务案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.4.8.8" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/388-can-shu-fu-wu-shi-xian.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/38-tong-xin-ji-zhi-lian-xi/388-can-shu-fu-wu-shi-xian.html">
            
                    
                    3.8.8 参数服务实现
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.4.9" data-path="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/39-ben-zhang-xiao-jie.html">
            
                <a href="../../di-3-zhang-ros2-tong-xin-ji-zhi-bu-chong/39-ben-zhang-xiao-jie.html">
            
                    
                    3.9 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt.html">
            
                    
                    第4章 ROS2工具之launch与rosbag2
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.1" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie.html">
            
                    
                    4.1 启动文件launch简介
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.1.1" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie/411-launch-ji-ben-shi-yong-liu-cheng.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/41-launch-jian-jie/411-launch-ji-ben-shi-yong-liu-cheng.html">
            
                    
                    4.1.1 launch 基本使用流程
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.2" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian.html">
            
                    
                    4.2 launch之Python实现
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.2.1" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/421-jie-dian-she-zhi.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/421-jie-dian-she-zhi.html">
            
                    
                    4.2.1 节点设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.2" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/422-zhi-xing-ming-ling.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/422-zhi-xing-ming-ling.html">
            
                    
                    4.2.2 执行指令
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.3" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/424-wen-jian-bao-han.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/424-wen-jian-bao-han.html">
            
                    
                    4.2.3 参数设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.4" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/425-wen-jian-bao-han.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/425-wen-jian-bao-han.html">
            
                    
                    4.2.4 文件包含
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.5" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/426-fen-zu-she-zhi.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/426-fen-zu-she-zhi.html">
            
                    
                    4.2.5 分组设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.2.6" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/423-tian-jia-shi-jian.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/42-launchzhi-python-shi-xian/423-tian-jia-shi-jian.html">
            
                    
                    4.2.6 添加事件
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.3" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian.html">
            
                    
                    4.3 launch之xml、yaml实现
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.3.1" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/431-jie-dian-she-zhi.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/431-jie-dian-she-zhi.html">
            
                    
                    4.3.1 节点设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.2" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/432-zhi-xing-zhi-ling.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/432-zhi-xing-zhi-ling.html">
            
                    
                    4.3.2 执行指令
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.3" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/433-can-shu-she-zhi.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/433-can-shu-she-zhi.html">
            
                    
                    4.3.3 参数设置
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.4" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/434-wen-jian-bao-han.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/434-wen-jian-bao-han.html">
            
                    
                    4.3.4 文件包含
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.3.5" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/435-fen-zu-she-zhi.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/43-launchzhi-xml-shi-xian/435-fen-zu-she-zhi.html">
            
                    
                    4.3.5 分组设置
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.4" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2.html">
            
                    
                    4.4 录制回放工具——rosbag2
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.5.4.1" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/441-ros2-bag-ming-ling-gong-ju.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/441-ros2-bag-ming-ling-gong-ju.html">
            
                    
                    4.4.1 ros2 bag 命令工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.4.2" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/442-rosbag2-zhi-c-shi-xian.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/442-rosbag2-zhi-c-shi-xian.html">
            
                    
                    4.4.2 rosbag2 编程（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.5.4.3" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/443-rosbag2-zhi-python-shi-xian.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/44-rosbag2/443-rosbag2-zhi-python-shi-xian.html">
            
                    
                    4.4.3 rosbag2 编程（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.5.5" data-path="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/46-ben-zhang-xiao-jie.html">
            
                <a href="../../di-4-zhang-ros2-gong-ju-zhi-launch-rosbag2-yu-rqt/46-ben-zhang-xiao-jie.html">
            
                    
                    4.5 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan.html">
            
                    
                    第5章 ROS2工具之坐标变换
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.1" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie.html">
            
                    
                    5.1 坐标变换简介
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.1.1" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie/511-an-li-an-zhuang-yi-ji-yun-xing.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/51-zuo-biao-bian-huan-jian-jie/511-an-li-an-zhuang-yi-ji-yun-xing.html">
            
                    
                    5.1.1 案例安装以及运行
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.2" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/52-zuo-biao-xiao-xi.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/52-zuo-biao-xiao-xi.html">
            
                    
                    5.2 坐标相关消息
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo.html">
            
                    
                    5.3 坐标变换广播
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.3.1" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/531-jing-tai-zuo-biao-xi-guan-xi-guang-bo.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/531-jing-tai-zuo-biao-xi-guan-xi-guang-bo.html">
            
                    
                    5.3.1 坐标系广播案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.2" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/532-jing-tai-guang-bo-qi-ff08-ming-ling-ff09.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/532-jing-tai-guang-bo-qi-ff08-ming-ling-ff09.html">
            
                    
                    5.3.2 静态广播器（命令）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.3" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/533-jing-tai-guang-bo-qi-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/533-jing-tai-guang-bo-qi-ff08-c-++.html">
            
                    
                    5.3.3 静态广播器（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.4" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/534-jing-tai-guang-bo-qi-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/534-jing-tai-guang-bo-qi-ff08-python.html">
            
                    
                    5.3.4 静态广播器（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.5" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/535-dong-tai-guang-bo-qi-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/535-dong-tai-guang-bo-qi-ff08-c-++.html">
            
                    
                    5.3.5 动态广播器（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.6" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/536-dong-tai-guang-bo-qi-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/536-dong-tai-guang-bo-qi-ff08-python.html">
            
                    
                    5.3.6 动态广播器（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.7" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/537-zuo-biao-dian-fa-bu-an-li-fen-xi.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/537-zuo-biao-dian-fa-bu-an-li-fen-xi.html">
            
                    
                    5.3.7 坐标点发布案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.8" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/538-zuo-biao-dian-fa-bu-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/538-zuo-biao-dian-fa-bu-ff08-c-++.html">
            
                    
                    5.3.8 坐标点发布（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.3.9" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/539-zuo-biao-dian-fa-bu-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/53-zuo-biao-xi-guang-bo/539-zuo-biao-dian-fa-bu-ff08-python.html">
            
                    
                    5.3.9 坐标点发布（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.4" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting.html">
            
                    
                    5.4 坐标变换监听
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.4.1" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/541-zuo-biao-xi-bian-huan.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/541-zuo-biao-xi-bian-huan.html">
            
                    
                    5.4.1 坐标系变换案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.2" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/542-zuo-biao-dian-bian-huan.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/542-zuo-biao-dian-bian-huan.html">
            
                    
                    5.4.2 坐标系变换（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.3" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/543-zuo-biao-xi-bian-huan-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/543-zuo-biao-xi-bian-huan-ff08-c-++.html">
            
                    
                    5.4.3 坐标系变换（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.4" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/544-zuo-biao-dian-bian-huan-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/544-zuo-biao-dian-bian-huan-ff08-c-++.html">
            
                    
                    5.4.4 坐标点变换（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.4.5" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/545-zuo-biao-dian-bian-huan-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/54-zuo-biao-xi-jian-ting/545-zuo-biao-dian-bian-huan-ff08-python.html">
            
                    
                    5.4.5 坐标点变换（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.5" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/55-tfgong-ju.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/55-tfgong-ju.html">
            
                    
                    5.5 坐标变换工具
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao.html">
            
                    
                    5.6 坐标变换实操
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.6.6.1" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/561-wu-gui-gen-sui-an-li-yi-ji-an-li-fen-xi.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/561-wu-gui-gen-sui-an-li-yi-ji-an-li-fen-xi.html">
            
                    
                    5.6.1 乌龟跟随案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.2" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-gen-sui-shi-xian-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-gen-sui-shi-xian-ff08-c-++.html">
            
                    
                    5.6.2 乌龟跟随实现（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.3" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/563-wu-gui-gen-sui-shi-xian-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/563-wu-gui-gen-sui-shi-xian-ff08-python.html">
            
                    
                    5.6.3 乌龟跟随实现（Python）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.4" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-hu-hang-an-li-yi-ji-fen-xi.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/562-wu-gui-hu-hang-an-li-yi-ji-fen-xi.html">
            
                    
                    5.6.4 乌龟护航案例以及分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.5" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/565-wu-gui-hu-hang-shi-xian-ff08-c-++.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/565-wu-gui-hu-hang-shi-xian-ff08-c-++.html">
            
                    
                    5.6.5 乌龟护航实现（C++）
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.6.6.6" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/566-wu-gui-hu-hang-shi-xian-ff08-python.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/56-zuo-biao-bian-huan-shi-cao/566-wu-gui-hu-hang-shi-xian-ff08-python.html">
            
                    
                    5.6.6 乌龟护航实现（Python）
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.6.7" data-path="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/57-ben-zhang-xiao-jie.html">
            
                <a href="../../di-5-zhang-ros2-gong-ju-zhi-zuo-biao-bian-huan/57-ben-zhang-xiao-jie.html">
            
                    
                    5.7 本章小结
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.7" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen.html">
            
                    
                    第6章 ROS2工具之可视化
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.7.1" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/61-gai-shu.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/61-gai-shu.html">
            
                    
                    6.1 可视化简介
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.2" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/62-rviz2-ji-ben-shi-yong.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/62-rviz2-ji-ben-shi-yong.html">
            
                    
                    6.2 rviz2 基本使用
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.3" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng.html">
            
                    
                    6.3 rviz2集成URDF基本流程
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.7.3.1" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng/631-an-li-yi-ji-an-li-fen-xi.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng/631-an-li-yi-ji-an-li-fen-xi.html">
            
                    
                    6.3.1 案例以及案例分析
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.3.2" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng/632-an-li-shi-xian.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/63-urdfji-cheng-rviz2-ji-ben-liu-cheng/632-an-li-shi-xian.html">
            
                    
                    6.3.2 案例实现
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.7.4" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa.html">
            
                    
                    6.4 URDF使用语法
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.7.4.1" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/641-urdfyu-fa-01-robot.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/641-urdfyu-fa-01-robot.html">
            
                    
                    6.4.1 URDF语法01_robot
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.4.2" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/642-urdfyu-fa-02-link.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/642-urdfyu-fa-02-link.html">
            
                    
                    6.4.2 URDF语法02_link
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.4.3" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/643-urdfyu-fa-03-joint.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/643-urdfyu-fa-03-joint.html">
            
                    
                    6.4.3 URDF语法03_joint
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.4.4" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/644-urdflian-xi.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/644-urdflian-xi.html">
            
                    
                    6.4.4 URDF练习
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.4.5" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/645-urdfgong-ju.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/64-urdfyu-fa/645-urdfgong-ju.html">
            
                    
                    6.4.5 URDF工具
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.7.5" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro.html">
            
                    
                    6.5 URDF优化_xacro
            
                </a>
            

            
            <ul class="articles">
                
    
        <li class="chapter " data-level="1.7.5.1" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/651-xacrokuai-su-ti-yan.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/651-xacrokuai-su-ti-yan.html">
            
                    
                    6.5.1 xacro_快速体验
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.5.2" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/652-xacroshi-yong-yu-fa.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/652-xacroshi-yong-yu-fa.html">
            
                    
                    6.5.2 xacro_使用语法
            
                </a>
            

            
        </li>
    
        <li class="chapter " data-level="1.7.5.3" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/653-xacroshi-yong-shi-li.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/65-urdfyou-hua-xacro/653-xacroshi-yong-shi-li.html">
            
                    
                    6.5.3 xacro_练习
            
                </a>
            

            
        </li>
    

            </ul>
            
        </li>
    
        <li class="chapter " data-level="1.7.6" data-path="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/66-ben-zhang-xiao-jie.html">
            
                <a href="../../di-6-zhang-ros2-ji-qi-ren-jian-mo-yu-fang-zhen/66-ben-zhang-xiao-jie.html">
            
                    
                    6.6 本章小结
            
                </a>
            

            
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                                <h3 id="151-ros2&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;">1.5.1 ROS2&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;</h3>
<p>&#x7ACB;&#x8DB3;&#x7CFB;&#x7EDF;&#x67B6;&#x6784;&#xFF0C;&#x5982;&#x4E0B;&#x56FE;&#x6240;&#x793A;&#xFF0C;ROS2&#x53EF;&#x4EE5;&#x5212;&#x5206;&#x4E3A;&#x4E09;&#x5C42;&#xFF1A;</p>
<ul>
<li><p><strong>&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#x5C42;&#xFF08;OS Layer&#xFF09;</strong></p>
<p>&#x5982;&#x524D;&#x6240;&#x8FF0;&#xFF0C;ROS&#x867D;&#x7136;&#x79F0;&#x4E4B;&#x4E3A;&#x673A;&#x5668;&#x4EBA;&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#xFF0C;&#x4F46;&#x5B9E;&#x8D28;&#x53EA;&#x662F;&#x6784;&#x5EFA;&#x673A;&#x5668;&#x4EBA;&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#x7684;&#x8F6F;&#x4EF6;&#x5F00;&#x53D1;&#x5DE5;&#x5177;&#x5305;&#xFF0C;ROS&#x5FC5;&#x987B;&#x4F9D;&#x8D56;&#x4E8E;&#x4F20;&#x7EDF;&#x610F;&#x4E49;&#x7684;&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#xFF0C;&#x76EE;&#x524D;ROS2&#x53EF;&#x4EE5;&#x8FD0;&#x884C;&#x5728;Linux&#x3001;Windows&#x3001;Mac&#x6216;RTOS&#x4E0A;&#x3002;</p>
</li>
<li><p><strong>&#x4E2D;&#x95F4;&#x5C42;&#xFF08;Middleware Layer&#xFF09;</strong></p>
<p>&#x4E3B;&#x8981;&#x7531;&#x6570;&#x636E;&#x5206;&#x53D1;&#x670D;&#x52A1;DDS&#x4E0E;ROS2&#x5C01;&#x88C5;&#x7684;&#x5173;&#x4E8E;&#x673A;&#x5668;&#x4EBA;&#x5F00;&#x53D1;&#x7684;&#x4E2D;&#x95F4;&#x4EF6;&#x7EC4;&#x6210;&#x3002;DDS&#x662F;&#x4E00;&#x79CD;&#x53BB;&#x4E2D;&#x5FC3;&#x5316;&#x7684;&#x6570;&#x636E;&#x901A;&#x8BAF;&#x65B9;&#x5F0F;&#xFF0C;ROS2&#x8FD8;&#x5F15;&#x5165;&#x4E86;&#x670D;&#x52A1;&#x8D28;&#x91CF;&#x7BA1;&#x7406; &#xFF08;Quality of Service&#xFF09;&#x673A;&#x5236;&#xFF0C;&#x501F;&#x52A9;&#x8BE5;&#x673A;&#x5236;&#x53EF;&#x4EE5;&#x4FDD;&#x8BC1;&#x5728;&#x67D0;&#x4E9B;&#x8F83;&#x5DEE;&#x7F51;&#x7EDC;&#x73AF;&#x5883;&#x4E0B;&#x4E5F;&#x53EF;&#x4EE5;&#x5177;&#x5907;&#x826F;&#x597D;&#x7684;&#x901A;&#x8BAF;&#x6548;&#x679C;&#x3002;ROS2&#x4E2D;&#x95F4;&#x4EF6;&#x5219;&#x4E3B;&#x8981;&#x7531;&#x5BA2;&#x6237;&#x7AEF;&#x5E93;&#x3001;DDS&#x62BD;&#x8C61;&#x5C42;&#x4E0E;&#x8FDB;&#x7A0B;&#x5185;&#x901A;&#x8BAF;API&#x6784;&#x6210;&#x3002;</p>
</li>
<li><p><strong>&#x5E94;&#x7528;&#x5C42;&#xFF08;Application Layer&#xFF09;</strong></p>
<p>&#x662F;&#x6307;&#x5F00;&#x53D1;&#x8005;&#x6784;&#x5EFA;&#x7684;&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#xFF0C;&#x5728;&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#x4E2D;&#x662F;&#x4EE5;&#x529F;&#x80FD;&#x5305;&#x4E3A;&#x6838;&#x5FC3;&#x7684;&#xFF0C;&#x5728;&#x529F;&#x80FD;&#x5305;&#x4E2D;&#x53EF;&#x4EE5;&#x5305;&#x542B;&#x6E90;&#x7801;&#x3001;&#x6570;&#x636E;&#x5B9A;&#x4E49;&#x3001;&#x63A5;&#x53E3;&#x7B49;&#x5185;&#x5BB9;&#x3002;</p>
</li>
</ul>
<p><img src="../../assets/1.5.1&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;.png" alt=""></p>
<p>&#x5BF9;&#x4E8E;&#x4E00;&#x822C;&#x5F00;&#x53D1;&#x8005;&#x800C;&#x8A00;&#xFF0C;&#x5DE5;&#x4F5C;&#x5185;&#x5BB9;&#x4E3B;&#x8981;&#x96C6;&#x4E2D;&#x5728;&#x5E94;&#x7528;&#x5C42;&#xFF0C;&#x5F00;&#x53D1;&#x8005;&#x4E00;&#x822C;&#x901A;&#x8FC7;&#x5B9E;&#x73B0;&#x5177;&#x6709;&#x67D0;&#x4E00;&#x7279;&#x5B9A;&#x529F;&#x80FD;&#x7684;&#x529F;&#x80FD;&#x5305;&#x6765;&#x6784;&#x5EFA;&#x673A;&#x5668;&#x4EBA;&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#x3002;&#x5BF9;&#x5E94;&#x7684;&#x6211;&#x4EEC;&#x6240;&#x4ECB;&#x7ECD;&#x7684;ROS2&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;&#x4E3B;&#x8981;&#x662F;&#x6307;&#x5728;&#x786C;&#x76D8;&#x4E0A;&#x4EE5;&#x529F;&#x80FD;&#x5305;&#x4E3A;&#x6838;&#x5FC3;&#x7684;&#x76EE;&#x5F55;&#x4E0E;&#x6587;&#x4EF6;&#x7684;&#x7EC4;&#x7EC7;&#x5F62;&#x5F0F;&#x3002;</p>
<h4 id="1&#x6982;&#x89C8;">1.&#x6982;&#x89C8;</h4>
<p>&#x529F;&#x80FD;&#x5305;&#x662F;ROS2&#x5E94;&#x7528;&#x7A0B;&#x5E8F;&#x7684;&#x6838;&#x5FC3;&#xFF0C;&#x4F46;&#x662F;&#x529F;&#x80FD;&#x5305;&#x4E0D;&#x80FD;&#x76F4;&#x63A5;&#x6784;&#x5EFA;&#xFF0C;&#x5FC5;&#x987B;&#x4F9D;&#x8D56;&#x4E8E;&#x5DE5;&#x4F5C;&#x7A7A;&#x95F4;&#xFF0C;&#x4E00;&#x4E2A;ROS2&#x5DE5;&#x4F5C;&#x7A7A;&#x95F4;&#x7684;&#x76EE;&#x5F55;&#x7ED3;&#x6784;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code>WorkSpace --- &#x81EA;&#x5B9A;&#x4E49;&#x7684;&#x5DE5;&#x4F5C;&#x7A7A;&#x95F4;&#x3002;
    |--- build&#xFF1A;&#x5B58;&#x50A8;&#x4E2D;&#x95F4;&#x6587;&#x4EF6;&#x7684;&#x76EE;&#x5F55;&#xFF0C;&#x8BE5;&#x76EE;&#x5F55;&#x4E0B;&#x4F1A;&#x4E3A;&#x6BCF;&#x4E00;&#x4E2A;&#x529F;&#x80FD;&#x5305;&#x521B;&#x5EFA;&#x4E00;&#x4E2A;&#x5355;&#x72EC;&#x5B50;&#x76EE;&#x5F55;&#x3002;
    |--- install&#xFF1A;&#x5B89;&#x88C5;&#x76EE;&#x5F55;&#xFF0C;&#x8BE5;&#x76EE;&#x5F55;&#x4E0B;&#x4F1A;&#x4E3A;&#x6BCF;&#x4E00;&#x4E2A;&#x529F;&#x80FD;&#x5305;&#x521B;&#x5EFA;&#x4E00;&#x4E2A;&#x5355;&#x72EC;&#x5B50;&#x76EE;&#x5F55;&#x3002;
    |--- log&#xFF1A;&#x65E5;&#x5FD7;&#x76EE;&#x5F55;&#xFF0C;&#x7528;&#x4E8E;&#x5B58;&#x50A8;&#x65E5;&#x5FD7;&#x6587;&#x4EF6;&#x3002;
    |--- src&#xFF1A;&#x7528;&#x4E8E;&#x5B58;&#x50A8;&#x529F;&#x80FD;&#x5305;&#x6E90;&#x7801;&#x7684;&#x76EE;&#x5F55;&#x3002;
        |-- C++&#x529F;&#x80FD;&#x5305;
            |-- package.xml&#xFF1A;&#x5305;&#x4FE1;&#x606F;&#xFF0C;&#x6BD4;&#x5982;:&#x5305;&#x540D;&#x3001;&#x7248;&#x672C;&#x3001;&#x4F5C;&#x8005;&#x3001;&#x4F9D;&#x8D56;&#x9879;&#x3002;
            |-- CMakeLists.txt&#xFF1A;&#x914D;&#x7F6E;&#x7F16;&#x8BD1;&#x89C4;&#x5219;&#xFF0C;&#x6BD4;&#x5982;&#x6E90;&#x6587;&#x4EF6;&#x3001;&#x4F9D;&#x8D56;&#x9879;&#x3001;&#x76EE;&#x6807;&#x6587;&#x4EF6;&#x3002;
            |-- src&#xFF1A;C++&#x6E90;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
            |-- include&#xFF1A;&#x5934;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
            |-- msg&#xFF1A;&#x6D88;&#x606F;&#x63A5;&#x53E3;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
            |-- srv&#xFF1A;&#x670D;&#x52A1;&#x63A5;&#x53E3;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
            |-- action&#xFF1A;&#x52A8;&#x4F5C;&#x63A5;&#x53E3;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
        |-- Python&#x529F;&#x80FD;&#x5305;
            |-- package.xml&#xFF1A;&#x5305;&#x4FE1;&#x606F;&#xFF0C;&#x6BD4;&#x5982;:&#x5305;&#x540D;&#x3001;&#x7248;&#x672C;&#x3001;&#x4F5C;&#x8005;&#x3001;&#x4F9D;&#x8D56;&#x9879;&#x3002;
            |-- setup.py&#xFF1A;&#x4E0E;C++&#x529F;&#x80FD;&#x5305;&#x7684;CMakeLists.txt&#x7C7B;&#x4F3C;&#x3002;
            |-- setup.cfg&#xFF1A;&#x529F;&#x80FD;&#x5305;&#x57FA;&#x672C;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x3002;
            |-- resource&#xFF1A;&#x8D44;&#x6E90;&#x76EE;&#x5F55;&#x3002;
            |-- test&#xFF1A;&#x5B58;&#x50A8;&#x6D4B;&#x8BD5;&#x76F8;&#x5173;&#x6587;&#x4EF6;&#x3002;
            |-- &#x529F;&#x80FD;&#x5305;&#x540C;&#x540D;&#x76EE;&#x5F55;&#xFF1A;Python&#x6E90;&#x6587;&#x4EF6;&#x76EE;&#x5F55;&#x3002;
</code></pre><p>&#x53E6;&#x5916;&#xFF0C;&#x65E0;&#x8BBA;&#x662F;Python&#x529F;&#x80FD;&#x5305;&#x8FD8;&#x662F;C++&#x529F;&#x80FD;&#x5305;&#xFF0C;&#x90FD;&#x53EF;&#x4EE5;&#x81EA;&#x5B9A;&#x4E49;&#x4E00;&#x4E9B;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x76F8;&#x5173;&#x7684;&#x76EE;&#x5F55;&#x3002;</p>
<pre><code>|-- C++&#x6216;Python&#x529F;&#x80FD;&#x5305;
    |-- launch&#xFF1A;&#x5B58;&#x50A8;launch&#x6587;&#x4EF6;&#x3002;
    |-- rviz&#xFF1A;&#x5B58;&#x50A8;rviz2&#x914D;&#x7F6E;&#x76F8;&#x5173;&#x6587;&#x4EF6;&#x3002;
    |-- urdf&#xFF1A;&#x5B58;&#x50A8;&#x673A;&#x5668;&#x4EBA;&#x5EFA;&#x6A21;&#x6587;&#x4EF6;&#x3002;
    |-- params&#xFF1A;&#x5B58;&#x50A8;&#x53C2;&#x6570;&#x6587;&#x4EF6;&#x3002;
    |-- world&#xFF1A;&#x5B58;&#x50A8;&#x4EFF;&#x771F;&#x73AF;&#x5883;&#x76F8;&#x5173;&#x6587;&#x4EF6;&#x3002;
    |-- map&#xFF1A;&#x5B58;&#x50A8;&#x5BFC;&#x822A;&#x6240;&#x9700;&#x5730;&#x56FE;&#x6587;&#x4EF6;&#x3002;
    |-- ......
</code></pre><p>&#x4E0A;&#x8FF0;&#x8FD9;&#x4E9B;&#x76EE;&#x5F55;&#x4E5F;&#x53EF;&#x4EE5;&#x5B9A;&#x4E49;&#x4E3A;&#x5176;&#x4ED6;&#x540D;&#x79F0;&#xFF0C;&#x6216;&#x8005;&#x6839;&#x636E;&#x9700;&#x8981;&#x521B;&#x5EFA;&#x5176;&#x4ED6;&#x4E00;&#x4E9B;&#x76EE;&#x5F55;&#x3002;</p>
<h4 id="2&#x6E90;&#x6587;&#x4EF6;&#x8BF4;&#x660E;">2.&#x6E90;&#x6587;&#x4EF6;&#x8BF4;&#x660E;</h4>
<p>&#x5728;<strong>1.3 ROS2&#x5FEB;&#x901F;&#x4F53;&#x9A8C;</strong>&#x4E2D;&#xFF0C;&#x5B9E;&#x73B0;&#x7B2C;&#x4E00;&#x4E2A;ROS2&#x7A0B;&#x5E8F;&#x65F6;&#xFF0C;&#x90FD;&#x9700;&#x8981;&#x521B;&#x5EFA;&#x8282;&#x70B9;&#xFF0C;&#x65E0;&#x8BBA;&#x662F;C++&#x5B9E;&#x73B0;&#x8FD8;&#x662F;Python&#x5B9E;&#x73B0;&#xFF0C;&#x90FD;&#x662F;&#x76F4;&#x63A5;&#x5B9E;&#x4F8B;&#x5316;&#x7684;Node&#x5BF9;&#x8C61;&#x3002;</p>
<p>C++&#x5B9E;&#x4F8B;&#x5316;Node&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-cpp"><span class="hljs-meta">#<span class="hljs-meta-keyword">include</span> <span class="hljs-string">&quot;rclcpp/rclcpp.hpp&quot;</span></span>

<span class="hljs-function"><span class="hljs-keyword">int</span> <span class="hljs-title">main</span><span class="hljs-params">(<span class="hljs-keyword">int</span> argc, <span class="hljs-keyword">char</span> ** argv)</span>
</span>{
  rclcpp::init(argc,argv);
  <span class="hljs-keyword">auto</span> node = rclcpp::Node::make_shared(<span class="hljs-string">&quot;helloworld_node&quot;</span>);
  RCLCPP_INFO(node-&gt;get_logger(),<span class="hljs-string">&quot;hello world!&quot;</span>);
  rclcpp::shutdown();
  <span class="hljs-keyword">return</span> <span class="hljs-number">0</span>;
}
</code></pre>
<p>Python&#x5B9E;&#x4F8B;&#x5316;Node&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-py"><span class="hljs-keyword">import</span> rclpy

<span class="hljs-function"><span class="hljs-keyword">def</span> <span class="hljs-title">main</span><span class="hljs-params">()</span>:</span>
    rclpy.init()
    node = rclpy.create_node(<span class="hljs-string">&quot;helloworld_py_node&quot;</span>)
    node.get_logger().info(<span class="hljs-string">&quot;hello world!&quot;</span>)
    rclpy.shutdown()

<span class="hljs-keyword">if</span> __name__ == <span class="hljs-string">&apos;__main__&apos;</span>:
    main()
</code></pre>
<p>&#x4F46;&#x662F;&#x5728;ROS2&#x4E2D;&#xFF0C;&#x4E0A;&#x8FF0;&#x7F16;&#x7801;&#x98CE;&#x683C;&#x662F;&#x4E0D;&#x88AB;&#x63A8;&#x8350;&#x7684;&#xFF0C;&#x66F4;&#x63A8;&#x8350;&#x4EE5;&#x7EE7;&#x627F;Node&#x7684;&#x65B9;&#x5F0F;&#x6765;&#x521B;&#x5EFA;&#x8282;&#x70B9;&#x5BF9;&#x8C61;&#x3002;</p>
<p>C++&#x7EE7;&#x627F;Node&#x5B9E;&#x73B0;&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-cpp"><span class="hljs-meta">#<span class="hljs-meta-keyword">include</span> <span class="hljs-string">&quot;rclcpp/rclcpp.hpp&quot;</span></span>

<span class="hljs-keyword">class</span> MyNode: <span class="hljs-keyword">public</span> rclcpp::Node{
<span class="hljs-keyword">public</span>:
    MyNode():Node(<span class="hljs-string">&quot;node_name&quot;</span>){
        RCLCPP_INFO(<span class="hljs-keyword">this</span>-&gt;get_logger(),<span class="hljs-string">&quot;hello world!&quot;</span>);
    }

};

<span class="hljs-function"><span class="hljs-keyword">int</span> <span class="hljs-title">main</span><span class="hljs-params">(<span class="hljs-keyword">int</span> argc, <span class="hljs-keyword">char</span> *argv[])</span>
</span>{
    rclcpp::init(argc,argv);
    <span class="hljs-keyword">auto</span> node = <span class="hljs-built_in">std</span>::make_shared&lt;MyNode&gt;();
    rclcpp::shutdown();
    <span class="hljs-keyword">return</span> <span class="hljs-number">0</span>;
}
</code></pre>
<p>Python&#x7EE7;&#x627F;Node&#x5B9E;&#x73B0;&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-py"><span class="hljs-keyword">import</span> rclpy
<span class="hljs-keyword">from</span> rclpy.node <span class="hljs-keyword">import</span> Node

<span class="hljs-class"><span class="hljs-keyword">class</span> <span class="hljs-title">MyNode</span><span class="hljs-params">(Node)</span>:</span>
    <span class="hljs-function"><span class="hljs-keyword">def</span> <span class="hljs-title">__init__</span><span class="hljs-params">(self)</span>:</span>
        super().__init__(<span class="hljs-string">&quot;node_name_py&quot;</span>)
        self.get_logger().info(<span class="hljs-string">&quot;hello world!&quot;</span>)
<span class="hljs-function"><span class="hljs-keyword">def</span> <span class="hljs-title">main</span><span class="hljs-params">()</span>:</span>

    rclpy.init()
    node = MyNode() 
    rclpy.shutdown()
</code></pre>
<p>&#x4E4B;&#x6240;&#x4EE5;&#x7EE7;&#x627F;&#x6BD4;&#x76F4;&#x63A5;&#x5B9E;&#x4F8B;&#x5316;Node&#x66F4;&#x88AB;&#x63A8;&#x8350;&#xFF0C;&#x662F;&#x56E0;&#x4E3A;&#x7EE7;&#x627F;&#x65B9;&#x5F0F;&#x53EF;&#x4EE5;&#x5728;&#x4E00;&#x4E2A;&#x8FDB;&#x7A0B;&#x5185;&#x7EC4;&#x7EC7;&#x591A;&#x4E2A;&#x8282;&#x70B9;&#xFF0C;&#x8FD9;&#x5BF9;&#x4E8E;&#x63D0;&#x9AD8;&#x8282;&#x70B9;&#x95F4;&#x7684;&#x901A;&#x4FE1;&#x6548;&#x7387;&#x662F;&#x5F88;&#x6709;&#x5E2E;&#x52A9;&#x7684;&#xFF0C;&#x4F46;&#x662F;&#x76F4;&#x63A5;&#x5B9E;&#x4F8B;&#x5316;&#x5219;&#x4E0E;&#x8BE5;&#x529F;&#x80FD;&#x4E0D;&#x517C;&#x5BB9;&#x3002;</p>
<h4 id="3&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x8BF4;&#x660E;">3.&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x8BF4;&#x660E;</h4>
<p>&#x5728;ROS2&#x529F;&#x80FD;&#x5305;&#x4E2D;&#xFF0C;&#x7ECF;&#x5E38;&#x9700;&#x8981;&#x5F00;&#x53D1;&#x8005;&#x7F16;&#x8F91;&#x4E00;&#x4E9B;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x4EE5;&#x8BBE;&#x7F6E;&#x529F;&#x80FD;&#x5305;&#x7684;&#x6784;&#x5EFA;&#x4FE1;&#x606F;&#xFF0C;&#x529F;&#x80FD;&#x5305;&#x7C7B;&#x578B;&#x4E0D;&#x540C;&#xFF0C;&#x6240;&#x9700;&#x4FEE;&#x6539;&#x7684;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x4E5F;&#x6709;&#x6240;&#x4E0D;&#x540C;&#x3002;C++&#x529F;&#x80FD;&#x5305;&#x7684;&#x6784;&#x5EFA;&#x4FE1;&#x606F;&#x4E3B;&#x8981;&#x5305;&#x542B;&#x5728;package.xml&#x4E0E;CMakeLists.txt&#x4E2D;&#xFF0C;Python&#x529F;&#x80FD;&#x5305;&#x7684;&#x6784;&#x5EFA;&#x4FE1;&#x606F;&#x5219;&#x4E3B;&#x8981;&#x5305;&#x542B;&#x5728;package.xml&#x548C;setup.py&#x4E2D;&#xFF0C;&#x63A5;&#x4E0B;&#x6765;&#x6211;&#x4EEC;&#x5C31;&#x7B80;&#x5355;&#x4E86;&#x89E3;&#x4E00;&#x4E0B;&#x8FD9;&#x4E9B;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x3002;</p>
<h5 id="1packagexml">1.package.xml</h5>
<p>&#x4E0D;&#x7BA1;&#x662F;&#x4F55;&#x79CD;&#x7C7B;&#x578B;&#x7684;&#x529F;&#x80FD;&#x5305;&#xFF0C;package.xml&#x7684;&#x683C;&#x5F0F;&#x90FD;&#x662F;&#x7C7B;&#x4F3C;&#x7684;&#xFF0C;&#x5728;&#x8BE5;&#x6587;&#x4EF6;&#x4E2D;&#x5305;&#x542B;&#x4E86;&#x5305;&#x540D;&#x3001;&#x7248;&#x672C;&#x3001;&#x4F5C;&#x8005;&#x3001;&#x4F9D;&#x8D56;&#x9879;&#x7684;&#x4FE1;&#x606F;&#xFF0C;package.xml&#x53EF;&#x4EE5;&#x4E3A;colcon&#x6784;&#x5EFA;&#x5DE5;&#x5177;&#x786E;&#x5B9A;&#x529F;&#x80FD;&#x5305;&#x7684;&#x7F16;&#x8BD1;&#x987A;&#x5E8F;&#x3002;&#x4E00;&#x4E2A;&#x7B80;&#x5355;&#x7684;package.xml&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-xml"><span class="php"><span class="hljs-meta">&lt;?</span>xml version=<span class="hljs-string">&quot;1.0&quot;</span><span class="hljs-meta">?&gt;</span></span>
<span class="php"><span class="hljs-meta">&lt;?</span>xml-model href=<span class="hljs-string">&quot;http://download.ros.org/schema/package_format3.xsd&quot;</span> schematypens=<span class="hljs-string">&quot;http://www.w3.org/2001/XMLSchema&quot;</span><span class="hljs-meta">?&gt;</span></span>
<span class="hljs-tag">&lt;<span class="hljs-name">package</span> <span class="hljs-attr">format</span>=<span class="hljs-string">&quot;3&quot;</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">name</span>&gt;</span>pkg01_helloworld_cpp<span class="hljs-tag">&lt;/<span class="hljs-name">name</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">version</span>&gt;</span>0.0.0<span class="hljs-tag">&lt;/<span class="hljs-name">version</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">description</span>&gt;</span>TODO: Package description<span class="hljs-tag">&lt;/<span class="hljs-name">description</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">maintainer</span> <span class="hljs-attr">email</span>=<span class="hljs-string">&quot;ros2@todo.todo&quot;</span>&gt;</span>ros2<span class="hljs-tag">&lt;/<span class="hljs-name">maintainer</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">license</span>&gt;</span>TODO: License declaration<span class="hljs-tag">&lt;/<span class="hljs-name">license</span>&gt;</span>

  <span class="hljs-tag">&lt;<span class="hljs-name">buildtool_depend</span>&gt;</span>ament_cmake<span class="hljs-tag">&lt;/<span class="hljs-name">buildtool_depend</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">depend</span>&gt;</span>rclcpp<span class="hljs-tag">&lt;/<span class="hljs-name">depend</span>&gt;</span>

  <span class="hljs-tag">&lt;<span class="hljs-name">test_depend</span>&gt;</span>ament_lint_auto<span class="hljs-tag">&lt;/<span class="hljs-name">test_depend</span>&gt;</span>
  <span class="hljs-tag">&lt;<span class="hljs-name">test_depend</span>&gt;</span>ament_lint_common<span class="hljs-tag">&lt;/<span class="hljs-name">test_depend</span>&gt;</span>

  <span class="hljs-tag">&lt;<span class="hljs-name">export</span>&gt;</span>
    <span class="hljs-tag">&lt;<span class="hljs-name">build_type</span>&gt;</span>ament_cmake<span class="hljs-tag">&lt;/<span class="hljs-name">build_type</span>&gt;</span>
  <span class="hljs-tag">&lt;/<span class="hljs-name">export</span>&gt;</span>
<span class="hljs-tag">&lt;/<span class="hljs-name">package</span>&gt;</span>
</code></pre>
<p><strong>1.&#x6839;&#x6807;&#x7B7E;</strong></p>
<ul>
<li>&lt;package&gt;&#xFF1A;&#x8BE5;&#x6807;&#x7B7E;&#x4E3A;&#x6574;&#x4E2A;xml&#x6587;&#x4EF6;&#x7684;&#x6839;&#x6807;&#x7B7E;&#xFF0C;format&#x5C5E;&#x6027;&#x7528;&#x6765;&#x58F0;&#x660E;&#x6587;&#x4EF6;&#x7684;&#x683C;&#x5F0F;&#x7248;&#x672C;&#x3002;</li>
</ul>
<p><strong>2.&#x5143;&#x4FE1;&#x606F;&#x6807;&#x7B7E;</strong></p>
<ul>
<li>&lt;name&gt;&#xFF1A;&#x5305;&#x540D;&#xFF1B;</li>
<li>&lt;version&gt;&#xFF1A;&#x5305;&#x7684;&#x7248;&#x672C;&#x53F7;&#xFF1B;</li>
<li>&lt;description&gt;&#xFF1A;&#x5305;&#x7684;&#x63CF;&#x8FF0;&#x4FE1;&#x606F;&#xFF1B;</li>
<li>&lt;maintainer&gt;&#xFF1A;&#x7EF4;&#x62A4;&#x8005;&#x4FE1;&#x606F;&#xFF1B;</li>
<li>&lt;license&gt;&#xFF1A;&#x8F6F;&#x4EF6;&#x534F;&#x8BAE;&#xFF1B;</li>
<li>&lt;url&gt;&#xFF1A;&#x5305;&#x7684;&#x4ECB;&#x7ECD;&#x7F51;&#x5740;&#xFF1B;</li>
<li>&lt;author&gt;&#xFF1A;&#x5305;&#x7684;&#x4F5C;&#x8005;&#x4FE1;&#x606F;&#x3002;</li>
</ul>
<p><strong>3.&#x4F9D;&#x8D56;&#x9879;</strong></p>
<ul>
<li>&lt;buildtool_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x7F16;&#x8BD1;&#x5DE5;&#x5177;&#x4F9D;&#x8D56;&#xFF1B;</li>
<li>&lt;build_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x7F16;&#x8BD1;&#x4F9D;&#x8D56;&#xFF1B;</li>
<li>&lt;build_export_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x6839;&#x636E;&#x6B64;&#x5305;&#x6784;&#x5EFA;&#x5E93;&#x6240;&#x9700;&#x4F9D;&#x8D56;&#xFF1B;</li>
<li>&lt;exec_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x6267;&#x884C;&#x65F6;&#x4F9D;&#x8D56;&#xFF1B;</li>
<li>&lt;depend&gt;&#xFF1A;&#x76F8;&#x5F53;&#x4E8E;&lt;build_depend&gt;&#x3001;&lt;build_export_depend&gt;&#x3001;&lt;exec_depend&gt;&#x4E09;&#x8005;&#x7684;&#x96C6;&#x6210;&#xFF1B;</li>
<li>&lt;test_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x6D4B;&#x8BD5;&#x4F9D;&#x8D56;&#xFF1B;</li>
<li>&lt;doc_depend&gt;&#xFF1A;&#x58F0;&#x660E;&#x6784;&#x5EFA;&#x6587;&#x6863;&#x4F9D;&#x8D56;&#x3002;</li>
</ul>
<h5 id="2cmakeliststxt">2.CMakeLists.txt</h5>
<p>C++&#x529F;&#x80FD;&#x5305;&#x4E2D;&#x9700;&#x8981;&#x914D;&#x7F6E;CMakeLists.txt&#x6587;&#x4EF6;&#xFF0C;&#x8BE5;&#x6587;&#x4EF6;&#x63CF;&#x8FF0;&#x4E86;&#x5982;&#x4F55;&#x6784;&#x5EFA;C++&#x529F;&#x80FD;&#x5305;&#xFF0C;&#x4E00;&#x4E2A;&#x7B80;&#x5355;&#x7684;CMakeLists.txt&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code># &#x58F0;&#x660E;cmake&#x7684;&#x6700;&#x4F4E;&#x7248;&#x672C;
cmake_minimum_required(VERSION 3.8)
# &#x5305;&#x540D;&#xFF0C;&#x9700;&#x8981;&#x4E0E;package.xml&#x4E2D;&#x7684;&#x5305;&#x540D;&#x4E00;&#x81F4;
project(pkg01_helloworld_cpp)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES &quot;Clang&quot;)
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# &#x5F15;&#x5165;&#x5916;&#x90E8;&#x4F9D;&#x8D56;&#x5305;
find_package(rclcpp REQUIRED)

# &#x6620;&#x5C04;&#x6E90;&#x6587;&#x4EF6;&#x4E0E;&#x53EF;&#x6267;&#x884C;&#x6587;&#x4EF6;
add_executable(helloworld src/helloworld.cpp)
# &#x8BBE;&#x7F6E;&#x76EE;&#x6807;&#x4F9D;&#x8D56;&#x5E93;
ament_target_dependencies(
  helloworld
  &quot;rclcpp&quot;
)
# &#x5B9A;&#x4E49;&#x5B89;&#x88C5;&#x89C4;&#x5219;
install(TARGETS helloworld
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
</code></pre><p>&#x5728;&#x793A;&#x4F8B;&#x4E2D;&#x5173;&#x4E8E;&#x6587;&#x4EF6;&#x7684;&#x4F7F;&#x7528;&#x5DF2;&#x7ECF;&#x901A;&#x8FC7;&#x6CE8;&#x91CA;&#x7ED9;&#x51FA;&#x4E86;&#x7B80;&#x77ED;&#x8BF4;&#x660E;&#xFF0C;&#x5176;&#x5B9E;&#x5173;&#x4E8E;CMakeLists.txt&#x7684;&#x914D;&#x7F6E;&#x662F;&#x6BD4;&#x8F83;&#x590D;&#x6742;&#x7684;&#xFF0C;&#x540E;&#x7EED;&#x968F;&#x7740;&#x5B66;&#x4E60;&#x7684;&#x6DF1;&#x5165;&#xFF0C;&#x8FD8;&#x4F1A;&#x7ED9;&#x51FA;&#x66F4;&#x591A;&#x7684;&#x8865;&#x5145;&#x8BF4;&#x660E;&#x3002;</p>
<h5 id="3setuppy">3.setup.py</h5>
<p>Python&#x529F;&#x80FD;&#x5305;&#x4E2D;&#x9700;&#x8981;&#x914D;&#x7F6E;setup.py&#x6587;&#x4EF6;&#xFF0C;&#x8BE5;&#x6587;&#x4EF6;&#x63CF;&#x8FF0;&#x4E86;&#x5982;&#x4F55;&#x6784;&#x5EFA;Python&#x529F;&#x80FD;&#x5305;&#xFF0C;&#x4E00;&#x4E2A;&#x7B80;&#x5355;&#x7684;setup.py&#x793A;&#x4F8B;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code class="lang-py"><span class="hljs-keyword">from</span> setuptools <span class="hljs-keyword">import</span> setup

package_name = <span class="hljs-string">&apos;pkg02_helloworld_py&apos;</span>

setup(
    name=package_name, <span class="hljs-comment"># &#x5305;&#x540D;</span>
    version=<span class="hljs-string">&apos;0.0.0&apos;</span>,   <span class="hljs-comment"># &#x7248;&#x672C;</span>
    packages=[package_name], <span class="hljs-comment"># &#x529F;&#x80FD;&#x5305;&#x5217;&#x8868;</span>
    data_files=[ <span class="hljs-comment">#&#x9700;&#x8981;&#x88AB;&#x5B89;&#x88C5;&#x7684;&#x6587;&#x4EF6;&#x4EE5;&#x53CA;&#x5B89;&#x88C5;&#x8DEF;&#x5F84;</span>
        (<span class="hljs-string">&apos;share/ament_index/resource_index/packages&apos;</span>,
            [<span class="hljs-string">&apos;resource/&apos;</span> + package_name]),
        (<span class="hljs-string">&apos;share/&apos;</span> + package_name, [<span class="hljs-string">&apos;package.xml&apos;</span>]),
    ],
    install_requires=[<span class="hljs-string">&apos;setuptools&apos;</span>], <span class="hljs-comment"># &#x5B89;&#x88C5;&#x4F9D;&#x8D56;</span>
    zip_safe=<span class="hljs-keyword">True</span>,
    maintainer=<span class="hljs-string">&apos;ros2&apos;</span>, <span class="hljs-comment"># &#x7EF4;&#x62A4;&#x8005;</span>
    maintainer_email=<span class="hljs-string">&apos;ros2@todo.todo&apos;</span>, <span class="hljs-comment"># &#x7EF4;&#x62A4;&#x8005; email</span>
    description=<span class="hljs-string">&apos;TODO: Package description&apos;</span>, <span class="hljs-comment"># &#x5305;&#x63CF;&#x8FF0;</span>
    license=<span class="hljs-string">&apos;TODO: License declaration&apos;</span>, <span class="hljs-comment"># &#x8F6F;&#x4EF6;&#x534F;&#x8BAE;</span>
    tests_require=[<span class="hljs-string">&apos;pytest&apos;</span>], <span class="hljs-comment"># &#x6D4B;&#x8BD5;&#x4F9D;&#x8D56;</span>
    entry_points={
        <span class="hljs-string">&apos;console_scripts&apos;</span>: [
            <span class="hljs-comment"># &#x6620;&#x5C04;&#x6E90;&#x6587;&#x4EF6;&#x4E0E;&#x53EF;&#x6267;&#x884C;&#x6587;&#x4EF6;</span>
            <span class="hljs-string">&apos;helloworld = pkg02_helloworld_py.helloworld:main&apos;</span>
        ],
    },
)
</code></pre>
<p>&#x4F7F;&#x7528;&#x8BED;&#x6CD5;&#x53EF;&#x53C2;&#x8003;&#x4E0A;&#x8FF0;&#x793A;&#x4F8B;&#x4E2D;&#x7684;&#x6CE8;&#x91CA;&#x3002;</p>
<h4 id="4&#x64CD;&#x4F5C;&#x547D;&#x4EE4;">4.&#x64CD;&#x4F5C;&#x547D;&#x4EE4;</h4>
<p>ROS2&#x7684;&#x6587;&#x4EF6;&#x7CFB;&#x7EDF;&#x6838;&#x5FC3;&#x662F;&#x529F;&#x80FD;&#x5305;&#xFF0C;&#x6211;&#x4EEC;&#x53EF;&#x4EE5;&#x901A;&#x8FC7;&#x7F16;&#x8BD1;&#x6307;&#x4EE4;<code>colcon</code>&#x548C;ROS2&#x5185;&#x7F6E;&#x7684;&#x5DE5;&#x5177;&#x6307;&#x4EE4;<code>ros2</code>&#x6765;&#x5B9E;&#x73B0;&#x529F;&#x80FD;&#x5305;&#x7684;&#x521B;&#x5EFA;&#x3001;&#x7F16;&#x8BD1;&#x3001;&#x67E5;&#x627E;&#x4E0E;&#x6267;&#x884C;&#x7B49;&#x76F8;&#x5173;&#x64CD;&#x4F5C;&#x3002;</p>
<h5 id="1&#x521B;&#x5EFA;">1.&#x521B;&#x5EFA;</h5>
<p>&#x65B0;&#x5EFA;&#x529F;&#x80FD;&#x5305;&#x8BED;&#x6CD5;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code>ros2 pkg create &#x5305;&#x540D; --build-type &#x6784;&#x5EFA;&#x7C7B;&#x578B; --dependencies &#x4F9D;&#x8D56;&#x5217;&#x8868; --node-name &#x53EF;&#x6267;&#x884C;&#x7A0B;&#x5E8F;&#x540D;&#x79F0;
</code></pre><p>&#x683C;&#x5F0F;&#x89E3;&#x91CA;&#xFF1A;</p>
<ul>
<li>--build-type&#xFF1A;&#x662F;&#x6307;&#x529F;&#x80FD;&#x5305;&#x7684;&#x6784;&#x5EFA;&#x7C7B;&#x578B;&#xFF0C;&#x6709;cmake&#x3001;ament_cmake&#x3001;ament_python&#x4E09;&#x79CD;&#x7C7B;&#x578B;&#x53EF;&#x9009;&#xFF1B;</li>
<li>--dependencies&#xFF1A;&#x6240;&#x4F9D;&#x8D56;&#x7684;&#x529F;&#x80FD;&#x5305;&#x5217;&#x8868;&#xFF1B;</li>
<li>--node-name&#xFF1A;&#x53EF;&#x6267;&#x884C;&#x7A0B;&#x5E8F;&#x7684;&#x540D;&#x79F0;&#xFF0C;&#x4F1A;&#x81EA;&#x52A8;&#x751F;&#x6210;&#x5BF9;&#x5E94;&#x7684;&#x6E90;&#x6587;&#x4EF6;&#x5E76;&#x751F;&#x6210;&#x914D;&#x7F6E;&#x6587;&#x4EF6;&#x3002;</li>
</ul>
<h5 id="2&#x7F16;&#x8BD1;">2.&#x7F16;&#x8BD1;</h5>
<p>&#x7F16;&#x8BD1;&#x529F;&#x80FD;&#x5305;&#x8BED;&#x6CD5;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code>colcon build
</code></pre><p>&#x6216;</p>
<pre><code>colcon build --packages-select &#x529F;&#x80FD;&#x5305;&#x5217;&#x8868;
</code></pre><p>&#x524D;&#x8005;&#x4F1A;&#x6784;&#x5EFA;&#x5DE5;&#x4F5C;&#x7A7A;&#x95F4;&#x4E0B;&#x7684;&#x6240;&#x6709;&#x529F;&#x80FD;&#x5305;&#xFF0C;&#x540E;&#x8005;&#x53EF;&#x4EE5;&#x6784;&#x5EFA;&#x6307;&#x5B9A;&#x529F;&#x80FD;&#x5305;&#x3002;</p>
<h5 id="3&#x67E5;&#x627E;">3.&#x67E5;&#x627E;</h5>
<p>&#x5728;<code>ros2 pkg</code>&#x547D;&#x4EE4;&#x4E0B;&#x5305;&#x542B;&#x4E86;&#x591A;&#x4E2A;&#x67E5;&#x8BE2;&#x529F;&#x80FD;&#x5305;&#x76F8;&#x5173;&#x4FE1;&#x606F;&#x7684;&#x53C2;&#x6570;&#x3002;</p>
<pre><code>ros2 pkg executables [&#x5305;&#x540D;] # &#x8F93;&#x51FA;&#x6240;&#x6709;&#x529F;&#x80FD;&#x5305;&#x6216;&#x6307;&#x5B9A;&#x529F;&#x80FD;&#x5305;&#x4E0B;&#x7684;&#x53EF;&#x6267;&#x884C;&#x7A0B;&#x5E8F;&#x3002;
ros2 pkg list # &#x5217;&#x51FA;&#x6240;&#x6709;&#x529F;&#x80FD;&#x5305;
ros2 pkg prefix &#x5305;&#x540D; # &#x5217;&#x51FA;&#x529F;&#x80FD;&#x5305;&#x8DEF;&#x5F84;
ros2 pkg xml # &#x8F93;&#x51FA;&#x529F;&#x80FD;&#x5305;&#x7684;package.xml&#x5185;&#x5BB9;
</code></pre><h5 id="4&#x6267;&#x884C;">4.&#x6267;&#x884C;</h5>
<p>&#x6267;&#x884C;&#x547D;&#x4EE4;&#x8BED;&#x6CD5;&#x5982;&#x4E0B;&#xFF1A;</p>
<pre><code>ros2 run &#x529F;&#x80FD;&#x5305; &#x53EF;&#x6267;&#x884C;&#x7A0B;&#x5E8F; &#x53C2;&#x6570;
</code></pre><blockquote>
<p><em><strong>&#x5C0F;&#x63D0;&#x793A;&#xFF1A;</strong></em></p>
<p>&#x53EF;&#x4EE5;&#x901A;&#x8FC7;<code>&#x547D;&#x4EE4; -h</code>&#x6216;<code>&#x547D;&#x4EE4; --help</code>&#x6765;&#x83B7;&#x53D6;&#x547D;&#x4EE4;&#x7684;&#x5E2E;&#x52A9;&#x6587;&#x6863;&#x3002;</p>
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